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SoftVTBench / spatial-soft /spatial_pastry005_hdf5_data_format_20260625.md

Arthur12137

Initial upload: spatial/object rigid+soft replay datasets, soft assets (part 15)

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Spatial Soft Pastry005 HDF5 Data Format

Dataset:

/vepfs-C区/visuotactile/Tabero/formal_collections/spatial_soft_pastry005_10tasks_50each_gripperjitter_replay_format_20260624

Overall Layout

There are 10 task HDF5 files:

libero_spatial/libero_spatial_task*/replayed_demos/*_replayed_demo.hdf5

Each HDF5 has:

/data/demo_0
/data/demo_1
...
/data/demo_49

So each task has 50 demos. The first dimension T below is the episode frame count and can vary across demos.

Demo Attributes

Stored on each /data/demo_* group:

Attribute	Meaning
`asset_name`	Soft object name, here `soft_pastry005`.
`demo_id`	New or collection-time demo id.
`original_demo_id`	Original script expert demo id.
`task_suite`	LIBERO suite, here `libero_spatial`.
`task_id`	Task id, `0..9`.
`soft_task_kind`	Soft collection task name, e.g. `libero_spatial_soft_task0`.
`task`	Isaac/Tabero environment id used during collection.
`language`	Natural-language instruction used for the demo.
`success`	Whether the script expert collection succeeded.
`failure_reason`	Failure reason if `success=False`; empty for success.
`num_frames`	Number of frames in this demo.
`num_samples`	Same frame/sample count used by replay-format tools.
`metadata_json`	Extra metadata, including `frames`, `gripper_close_norm`, `mode`, `place_in_target`.
`source_hdf5`	Raw source HDF5 path before replay-format assembly.

Action And Observation Fields

Field	Shape	Dtype	Meaning
`actions`	`(T, 13)`	`float32`	Training action aligned with replay format: `[x, y, z, axis_angle_x, axis_angle_y, axis_angle_z, gripper, force_left_x, force_left_y, force_left_z, force_right_x, force_right_y, force_right_z]`. This is the action OpenPI uses with `state = obs/eef_pose` and `delta = action - state` style preprocessing. Axis-angle branch was aligned to avoid `±pi` discontinuity.
`obs/actions`	`(T, 8)`	`float32`	Raw robot command before 13D conversion: `[x, y, z, quaternion(4), gripper]`. Mostly equivalent to `soft_extras/actions_raw`.
`obs/eef_pose`	`(T, 7)`	`float32`	End-effector state used as policy state: `[x, y, z, axis_angle_x, axis_angle_y, axis_angle_z, gripper]`. This is numerically aligned with `/actions` rotation convention.
`obs/arm_joint_pos`	`(T, 7)`	`float32`	Franka arm joint positions, arm joints only.
`obs/gripper_pos`	`(T, 2)`	`float32`	Two gripper finger joint positions.
`obs/gripper_width`	`(T,)`	`float32`	Scalar gripper opening width.
`obs/gripper_close_norm`	`(T,)`	`float32`	Normalized close value used by the script expert for pastry gripping. This records the gripper jitter value/process in normalized form.
`obs/gripper_net_force`	`(T, 1, 2, 3)`	`float32`	Net force observation for tactile/force policy input. The last two dimensions are left/right gripper side and 3D force vector.
`obs/gripper_marker_motion`	`(T, 2, 2, 99, 2)`	`float32`	Marker-motion tactile observation. It stores left/right tactile marker displacement fields; each marker has 2D image-plane motion. The `99` dimension is marker count.
`obs/fem_bbox_dims`	`(T, 3)`	`float32`	Soft pastry FEM bounding-box size over time, `[dx, dy, dz]`. Used for deformation/safety diagnostics.
`obs/fem_deformation_max`	`(T,)`	`float32`	Per-frame maximum FEM deformation metric for the soft pastry. Used by the safety check.
`obs/fem_deformation_rms`	`(T,)`	`float32`	Per-frame RMS FEM deformation metric for the soft pastry. Used by the safety check.

Soft Extras

These fields duplicate or preserve soft-specific collection signals in a separate namespace so replay-compatible common fields remain stable.

Field	Shape	Dtype	Meaning
`soft_extras/actions_13d`	`(T, 13)`	`float32`	Soft collection copy of the final 13D action. Should match `/actions`.
`soft_extras/actions_raw`	`(T, 8)`	`float32`	Raw 8D action before conversion to replay-style 13D.
`soft_extras/arm_joint_pos`	`(T, 7)`	`float32`	Soft collection copy of arm joint positions.
`soft_extras/gripper_width`	`(T,)`	`float32`	Soft collection copy of scalar gripper width.
`soft_extras/gripper_close_norm`	`(T,)`	`float32`	Soft collection copy of normalized close value.
`soft_extras/gripper_net_force`	`(T, 1, 2, 3)`	`float32`	Processed net force used for observation/training.
`soft_extras/gripper_net_force_raw`	`(T, 1, 2, 3)`	`float32`	Raw net force before any fallback/processing.
`soft_extras/gripper_net_force_source`	`(T,)`	`int8`	Source flag for net force values. Used to distinguish measured/raw/fallback force source.
`soft_extras/gripper_marker_motion`	`(T, 2, 2, 99, 2)`	`float32`	Soft collection copy of marker-motion tactile field.
`soft_extras/fem_bbox_dims`	`(T, 3)`	`float32`	Soft collection copy of FEM bbox dimensions.
`soft_extras/fem_deformation_max`	`(T,)`	`float32`	Soft collection copy of max deformation metric.
`soft_extras/fem_deformation_rms`	`(T,)`	`float32`	Soft collection copy of RMS deformation metric.

Dynamic State Fields

These fields store simulator state at every frame. Pose convention follows Isaac/Tabero root state convention: root pose is position plus quaternion, and root velocity is linear plus angular velocity.

Robot And Articulations

Field	Shape	Dtype	Meaning
`states/articulation/robot/joint_position`	`(T, 9)`	`float32`	Robot articulation joint positions: 7 arm joints plus 2 gripper joints.
`states/articulation/robot/joint_velocity`	`(T, 9)`	`float32`	Robot articulation joint velocities.
`states/articulation/robot/root_pose`	`(T, 7)`	`float32`	Robot root pose.
`states/articulation/robot/root_velocity`	`(T, 6)`	`float32`	Robot root linear/angular velocity.
`states/articulation/flat_stove_1/joint_position`	`(T, 1)`	`float32`	Flat stove articulation joint position in the spatial scene.
`states/articulation/flat_stove_1/joint_velocity`	`(T, 1)`	`float32`	Flat stove articulation joint velocity.
`states/articulation/flat_stove_1/root_pose`	`(T, 7)`	`float32`	Flat stove root pose.
`states/articulation/flat_stove_1/root_velocity`	`(T, 6)`	`float32`	Flat stove root velocity.
`states/articulation/wooden_cabinet_1/joint_position`	`(T, 3)`	`float32`	Wooden cabinet articulation joint positions.
`states/articulation/wooden_cabinet_1/joint_velocity`	`(T, 3)`	`float32`	Wooden cabinet articulation joint velocities.
`states/articulation/wooden_cabinet_1/root_pose`	`(T, 7)`	`float32`	Wooden cabinet root pose.
`states/articulation/wooden_cabinet_1/root_velocity`	`(T, 6)`	`float32`	Wooden cabinet root velocity.

Deformable Object

Field	Shape	Dtype	Meaning
`states/deformable_object/soft_pastry005/root_pos_w`	`(T, 3)`	`float32`	Soft pastry root/world position.
`states/deformable_object/soft_pastry005/nodal_pos_w`	`(T, 115, 3)`	`float32`	FEM node world positions for the soft pastry. `115` is the number of FEM nodes in this asset.
`states/deformable_object/soft_pastry005/bbox_min_w`	`(T, 3)`	`float32`	World-space minimum corner of the pastry FEM bounding box.
`states/deformable_object/soft_pastry005/bbox_max_w`	`(T, 3)`	`float32`	World-space maximum corner of the pastry FEM bounding box.

Rigid Scene Objects

Field	Shape	Dtype	Meaning
`states/rigid_object/akita_black_bowl_1/root_pose`	`(T, 7)`	`float32`	Akita black bowl root pose in the spatial scene.
`states/rigid_object/akita_black_bowl_1/root_velocity`	`(T, 6)`	`float32`	Akita black bowl root velocity.
`states/rigid_object/cookies_1/root_pose`	`(T, 7)`	`float32`	Cookies object root pose.
`states/rigid_object/cookies_1/root_velocity`	`(T, 6)`	`float32`	Cookies object root velocity.
`states/rigid_object/glazed_rim_porcelain_ramekin_1/root_pose`	`(T, 7)`	`float32`	Ramekin root pose.
`states/rigid_object/glazed_rim_porcelain_ramekin_1/root_velocity`	`(T, 6)`	`float32`	Ramekin root velocity.
`states/rigid_object/plate_1/root_pose`	`(T, 7)`	`float32`	Plate root pose.
`states/rigid_object/plate_1/root_velocity`	`(T, 6)`	`float32`	Plate root velocity.
`states/rigid_object/soft_pastry005_tactile_proxy/root_pose`	`(T, 7)`	`float32`	Tiny rigid tactile proxy pose for the soft pastry.
`states/rigid_object/soft_pastry005_tactile_proxy/root_velocity`	`(T, 6)`	`float32`	Tiny rigid tactile proxy velocity.

Initial State Fields

initial_state/* mirrors states/*, but only stores the initial frame with shape first dimension 1. These fields are used for reset/replay and for reproducing the starting scene.

Robot And Articulations

Field	Shape	Dtype	Meaning
`initial_state/articulation/robot/joint_position`	`(1, 9)`	`float32`	Initial robot joint positions.
`initial_state/articulation/robot/joint_velocity`	`(1, 9)`	`float32`	Initial robot joint velocities.
`initial_state/articulation/robot/root_pose`	`(1, 7)`	`float32`	Initial robot root pose.
`initial_state/articulation/robot/root_velocity`	`(1, 6)`	`float32`	Initial robot root velocity.
`initial_state/articulation/flat_stove_1/joint_position`	`(1, 1)`	`float32`	Initial flat stove joint position.
`initial_state/articulation/flat_stove_1/joint_velocity`	`(1, 1)`	`float32`	Initial flat stove joint velocity.
`initial_state/articulation/flat_stove_1/root_pose`	`(1, 7)`	`float32`	Initial flat stove root pose.
`initial_state/articulation/flat_stove_1/root_velocity`	`(1, 6)`	`float32`	Initial flat stove root velocity.
`initial_state/articulation/wooden_cabinet_1/joint_position`	`(1, 3)`	`float32`	Initial wooden cabinet joint positions.
`initial_state/articulation/wooden_cabinet_1/joint_velocity`	`(1, 3)`	`float32`	Initial wooden cabinet joint velocities.
`initial_state/articulation/wooden_cabinet_1/root_pose`	`(1, 7)`	`float32`	Initial wooden cabinet root pose.
`initial_state/articulation/wooden_cabinet_1/root_velocity`	`(1, 6)`	`float32`	Initial wooden cabinet root velocity.

Deformable Object

Field	Shape	Dtype	Meaning
`initial_state/deformable_object/soft_pastry005/root_pos_w`	`(1, 3)`	`float32`	Initial soft pastry root/world position.
`initial_state/deformable_object/soft_pastry005/nodal_pos_w`	`(1, 115, 3)`	`float32`	Initial FEM node world positions.
`initial_state/deformable_object/soft_pastry005/bbox_min_w`	`(1, 3)`	`float32`	Initial pastry FEM bounding-box minimum corner.
`initial_state/deformable_object/soft_pastry005/bbox_max_w`	`(1, 3)`	`float32`	Initial pastry FEM bounding-box maximum corner.

Rigid Scene Objects

Field	Shape	Dtype	Meaning
`initial_state/rigid_object/akita_black_bowl_1/root_pose`	`(1, 7)`	`float32`	Initial Akita black bowl root pose.
`initial_state/rigid_object/akita_black_bowl_1/root_velocity`	`(1, 6)`	`float32`	Initial Akita black bowl root velocity.
`initial_state/rigid_object/cookies_1/root_pose`	`(1, 7)`	`float32`	Initial cookies object root pose.
`initial_state/rigid_object/cookies_1/root_velocity`	`(1, 6)`	`float32`	Initial cookies object root velocity.
`initial_state/rigid_object/glazed_rim_porcelain_ramekin_1/root_pose`	`(1, 7)`	`float32`	Initial ramekin root pose.
`initial_state/rigid_object/glazed_rim_porcelain_ramekin_1/root_velocity`	`(1, 6)`	`float32`	Initial ramekin root velocity.
`initial_state/rigid_object/plate_1/root_pose`	`(1, 7)`	`float32`	Initial plate root pose.
`initial_state/rigid_object/plate_1/root_velocity`	`(1, 6)`	`float32`	Initial plate root velocity.
`initial_state/rigid_object/soft_pastry005_tactile_proxy/root_pose`	`(1, 7)`	`float32`	Initial rigid tactile proxy root pose.
`initial_state/rigid_object/soft_pastry005_tactile_proxy/root_velocity`	`(1, 6)`	`float32`	Initial rigid tactile proxy root velocity.

Replay Alignment Notes

Common replay-compatible training fields are preserved:
- actions
- obs/actions
- obs/eef_pose
- obs/arm_joint_pos
- obs/gripper_pos
- states/*
- initial_state/*
Soft-specific information is added without replacing common replay fields:
- obs/fem_*
- soft_extras/*
- states/deformable_object/soft_pastry005/*
/actions is the 13D training action. The rotation part is axis-angle and is branch-aligned with obs/eef_pose to avoid action - state producing artificial 2*pi jumps.
obs/actions and soft_extras/actions_raw preserve the original 8D absolute command form.

Safety Fields

For safety evaluation, use:

obs/fem_deformation_max
obs/fem_deformation_rms
obs/fem_bbox_dims

The current safety metric checks:

safe = max(obs/fem_deformation_max) <= threshold_max
       AND max(obs/fem_deformation_rms) <= threshold_rms

The combined evaluation metric is:

safe_success = success AND safe